Gazebo color texture and meshes

#gazebo   #texture  

---

Table of Content

Demo

basic sdf

model folder struct

└── simple_box
    ├── model.config
    └── model.sdf

files

model.config

<?xml version="1.0"?>
<model>
  <name>simple_box</name>
  <version>1.0</version>
  <sdf version="1.5">model.sdf</sdf>
  <author>
    <name></name>
    <email></email>
  </author>
  <description>
  </description>
</model> 

sdf

<?xml version='1.0'?>
<sdf version="1.4">
  <model name="simple_box">
    <pose>0 0 0.5 0 0 0</pose>
    <static>true</static>
    <link name="link">
      <inertial>
        <mass>1.0</mass>
        <inertia> <!-- inertias are tricky to compute -->
          <!-- http://gazebosim.org/tutorials?tut=inertia&cat=build_robot -->
          <ixx>0.083</ixx>       <!-- for a box: ixx = 0.083 * mass * (y*y + z*z) -->
          <ixy>0.0</ixy>         <!-- for a box: ixy = 0 -->
          <ixz>0.0</ixz>         <!-- for a box: ixz = 0 -->
          <iyy>0.083</iyy>       <!-- for a box: iyy = 0.083 * mass * (x*x + z*z) -->
          <iyz>0.0</iyz>         <!-- for a box: iyz = 0 -->
          <izz>0.083</izz>       <!-- for a box: izz = 0.083 * mass * (x*x + y*y) -->
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <box>
            <size>1 1 1</size>
          </box>
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <box>
            <size>1 1 1</size>
          </box>
        </geometry>
      </visual>
    </link>
  </model>
</sdf>

---

predefine color

• using predefine script

<visual name="visual">
    <geometry>
        <box>
        <size>1 1 1</size>
        </box>
    </geometry>
    <material>
        <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Red</name>
        </script>
    </material>
</visual>

materials list

list of materials define in gazebo file /usr/share/gazebo-11/media/materials/scripts/gazebo.material for example the RED definition

material Gazebo/Red
{
technique
{
    pass ambient
    {
    ambient 1 0 0
    diffuse 1 0 0
    specular 0.1 0.1 0.1 1 1
    }
}
}

---

Custom color

<visual name="visual">
    <geometry>
        <box>
        <size>1 1 1</size>
        </box>
    </geometry>
    <material> <!-- LED material -->
        <ambient>0 0 0 1</ambient>
        <diffuse>0 0 0 1</diffuse>
        <specular>0 0 0 0</specular>
        <emissive>0 1 0 1</emissive>
    </material> <!-- End LED material -->
</visual>

---

Texture

└── simple_box
    ├── materials
    │   ├── scripts
    │   │   └── simple_box.material
    │   └── textures
    │       └── seamless_texture.png
    ├── model.config
    └── model.sdf

simple_box.material

material wood/light
{
  technique
  {
    pass
    {
      texture_unit
      {
        // Relative to the location of the material script
        texture ../textures/seamless_texture.png
        // Repeat the texture over the surface (4 per face)
        scale 0.5 0.5
      }
    }
  }
}

<visual name="visual">
    <geometry>
        <box>
        <size>1 1 1</size>
        </box>
    </geometry>
    <material>
        <script>
            <uri>file:///home/user/dev_ws/src/rrbot/rrbot_description/models/simple_box/materials/scripts</uri>
            <uri>file:///home/user/dev_ws/src/rrbot/rrbot_description/models/simple_box/materials/textures</uri>
            <name>wood/light</name>
        </script>
    </material>
</visual>

uri

use model uri and set GAZEBO_MODEL_PATH
or use file:// to set absolute path

---

stl mesh

Warning

• STL: does not support colors and texturing
• Collada (.dae): support color and texture

stl color

<visual name="visual">
    <geometry>
        <mesh>
        <uri>file:///home/user/dev_ws/src/rrbot/rrbot_description/models/simple_box/meshes/cube_20k.stl</uri>
        <scale>0.25 0.25 0.25</scale>
        </mesh>
    </geometry>
    <material>
        <script>
        <uri>file://media/materials/scripts/gazebo.material</uri>
        <name>Gazebo/Red</name>
    </script>
    </material>
</visual>

stl with texture

<visual name="visual">
    <geometry>
        <mesh>
        <uri>file:///home/user/dev_ws/src/rrbot/rrbot_description/models/simple_box/meshes/cube_20k.stl</uri>
        <scale>0.5 0.5 0.5</scale>
        </mesh>
    </geometry>
    <material>
        <script>
        <uri>file:///home/user/dev_ws/src/rrbot/rrbot_description/models/simple_box/materials/scripts</uri>
        <uri>file:///home/user/dev_ws/src/rrbot/rrbot_description/models/simple_box/materials/textures</uri>
        <name>wood/light</name>
        </script>
    </material>
</visual>

---

Collada / dea

Example from gazebo_models

library_images

<library_images>
    <image id="start_pad_png" name="start_pad_png">
        <init_from>end_pad.png</init_from>
    </image>
</library_images>

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Reference

• Color And Texture Models